diff --git a/include/mynteye/types.h b/include/mynteye/types.h
index 27c0216..706bc44 100644
--- a/include/mynteye/types.h
+++ b/include/mynteye/types.h
@@ -304,8 +304,8 @@ enum class Format : std::uint32_t {
   GREY = MYNTEYE_FOURCC('G', 'R', 'E', 'Y'),
   /** YUV 4:2:2, 16 bits per pixel */
   YUYV = MYNTEYE_FOURCC('Y', 'U', 'Y', 'V'),
-  /** RGB 8:8:8, 24 bits per pixel */
-  RGB888 = MYNTEYE_FOURCC('R', 'G', 'B', '3'),
+  /** BGR 8:8:8, 24 bits per pixel */
+  BGR888 = MYNTEYE_FOURCC('B', 'G', 'R', '3'),
   /** Last guard */
   LAST
 };
diff --git a/samples/api/camera.cc b/samples/api/camera.cc
index 3f9b5fc..b72530c 100644
--- a/samples/api/camera.cc
+++ b/samples/api/camera.cc
@@ -25,7 +25,7 @@ int main(int argc, char *argv[]) {
   if (!api)
     return 1;
   api->SetStreamRequest(
-      Resolution::RES_1280x400, Format::RGB888, FrameRate::RATE_20_FPS);
+      Resolution::RES_1280x400, Format::BGR888, FrameRate::RATE_20_FPS);
   // api->SetOptionValue(Option::FRAME_RATE, 25);
   // api->SetOptionValue(Option::IMU_FREQUENCY, 500);
   api->SetOptionValue(Option::IR_CONTROL, 80);
diff --git a/samples/device/camera.cc b/samples/device/camera.cc
index b896bce..2132ae4 100644
--- a/samples/device/camera.cc
+++ b/samples/device/camera.cc
@@ -52,7 +52,7 @@ int main(int argc, char *argv[]) {
 
   std::size_t left_count = 0;
   device->SetStreamRequest(
-      Resolution::RES_1280x400, Format::RGB888, FrameRate::RATE_30_FPS);
+      Resolution::RES_1280x400, Format::BGR888, FrameRate::RATE_30_FPS);
   device->SetStreamCallback(
       Stream::LEFT, [&left_count](const device::StreamData &data) {
         CHECK_NOTNULL(data.img);
@@ -135,13 +135,15 @@ int main(int argc, char *argv[]) {
       cv::cvtColor(left_img, left_img, cv::COLOR_YUV2BGR_YUY2);
       cv::cvtColor(right_img, right_img, cv::COLOR_YUV2BGR_YUY2);
       cv::hconcat(left_img, right_img, img);
-    } else if (left_data.frame->format() == Format::RGB888) {
+    } else if (left_data.frame->format() == Format::BGR888) {
       cv::Mat left_img(
           left_data.frame->height(), left_data.frame->width(), CV_8UC3,
           left_data.frame->data());
       cv::Mat right_img(
           right_data.frame->height(), right_data.frame->width(), CV_8UC3,
           right_data.frame->data());
+      cv::cvtColor(left_img, left_img, CV_BGRA2RGBA);
+      cv::cvtColor(right_img, right_img, CV_BGRA2RGBA);
       cv::hconcat(left_img, right_img, img);
     } else {
       return -1;
diff --git a/samples/uvc/camera.cc b/samples/uvc/camera.cc
index 2852d63..1384d7f 100644
--- a/samples/uvc/camera.cc
+++ b/samples/uvc/camera.cc
@@ -108,7 +108,7 @@ int main(int argc, char *argv[]) {
   const auto frame_empty = [&frame]() { return frame == nullptr; };
 
   uvc::set_device_mode(
-      *device, 1280, 400, static_cast<int>(Format::RGB888), 20,
+      *device, 1280, 400, static_cast<int>(Format::BGR888), 20,
       [&mtx, &cv, &frame, &frame_ready](
           const void *data, std::function<void()> continuation) {
         // reinterpret_cast<const std::uint8_t *>(data);
@@ -144,7 +144,7 @@ int main(int argc, char *argv[]) {
 
     // only lastest frame is valid
     cv::Mat img(400, 1280, CV_8UC3, const_cast<void *>(frame->data));
-    // cv::cvtColor(img, img, cv::COLOR_YUV2BGR_YUY2);
+    cv::cvtColor(img, img, CV_BGRA2RGBA);
     cv::imshow("frame", img);
 
     frame = nullptr;
diff --git a/src/api/synthetic.cc b/src/api/synthetic.cc
index 6e9cb5e..4b6aff4 100644
--- a/src/api/synthetic.cc
+++ b/src/api/synthetic.cc
@@ -45,8 +45,10 @@ cv::Mat frame2mat(const std::shared_ptr<device::Frame> &frame) {
     cv::Mat img(frame->height(), frame->width(), CV_8UC2, frame->data());
     cv::cvtColor(img, img, cv::COLOR_YUV2BGR_YUY2);
     return img;
-  } else if (frame->format() == Format::RGB888) {
-    return cv::Mat(frame->height(), frame->width(), CV_8UC3, frame->data());
+  } else if (frame->format() == Format::BGR888) {
+    cv::Mat img(frame->height(), frame->width(), CV_8UC3, frame->data());
+    cv::cvtColor(img, img, CV_BGRA2RGBA);
+    return img;
   } else {
     return cv::Mat(frame->height(), frame->width(), CV_8UC1, frame->data());
   }
diff --git a/src/internal/config.cc b/src/internal/config.cc
index f02bc30..2bf99ab 100644
--- a/src/internal/config.cc
+++ b/src/internal/config.cc
@@ -33,17 +33,19 @@ const std::map<Model, std::map<Capabilities, StreamRequests>>
         {Model::STANDARD,
          {{Capabilities::STEREO, {{480, 752, Format::YUYV, 25}}},
           {Capabilities::STEREO_COLOR,
-           {{1280, 400, Format::YUYV, 20},
-            {1280, 400, Format::YUYV, 30},
-            {1280, 400, Format::YUYV, 60},
-            {2560, 800, Format::YUYV, 10},
-            {2560, 800, Format::YUYV, 20},
-            {2560, 800, Format::YUYV, 30},
-            {1280, 400, Format::RGB888, 20},
-            {1280, 400, Format::RGB888, 30},
-            {1280, 400, Format::RGB888, 60},
-            {2560, 800, Format::RGB888, 10},
-            {2560, 800, Format::RGB888, 20},
-            {2560, 800, Format::RGB888, 30}}}}}};
+           {// {1280, 400, Format::YUYV, 10},
+            // {1280, 400, Format::YUYV, 20},
+            // {1280, 400, Format::YUYV, 30},
+            // {1280, 400, Format::YUYV, 60},
+            // {2560, 800, Format::YUYV, 10},
+            // {2560, 800, Format::YUYV, 20},
+            // {2560, 800, Format::YUYV, 30},
+            {1280, 400, Format::BGR888, 10},
+            {1280, 400, Format::BGR888, 20},
+            {1280, 400, Format::BGR888, 30},
+            {1280, 400, Format::BGR888, 60},
+            {2560, 800, Format::BGR888, 10},
+            {2560, 800, Format::BGR888, 20},
+            {2560, 800, Format::BGR888, 30}}}}}};
 
 MYNTEYE_END_NAMESPACE
diff --git a/src/internal/streams.cc b/src/internal/streams.cc
index a12459d..4ee742f 100644
--- a/src/internal/streams.cc
+++ b/src/internal/streams.cc
@@ -79,7 +79,7 @@ bool unpack_left_img_pixels(
   CHECK_NOTNULL(frame);
   CHECK_EQ(request.format, frame->format());
   auto data_new = reinterpret_cast<const std::uint8_t *>(data);
-  if (request.format == Format::YUYV || request.format == Format::RGB888) {
+  if (request.format == Format::YUYV || request.format == Format::BGR888) {
     std::size_t n = request.format == Format::YUYV ? 2 : 3;
     std::size_t w = frame->width() * n;
     std::size_t h = frame->height();
@@ -105,7 +105,7 @@ bool unpack_right_img_pixels(
   CHECK_NOTNULL(frame);
   CHECK_EQ(request.format, frame->format());
   auto data_new = reinterpret_cast<const std::uint8_t *>(data);
-  if (request.format == Format::YUYV || request.format == Format::RGB888) {
+  if (request.format == Format::YUYV || request.format == Format::BGR888) {
     std::size_t n = request.format == Format::YUYV ? 2 : 3;
     std::size_t w = frame->width() * n;
     std::size_t h = frame->height();
diff --git a/src/public/types.cc b/src/public/types.cc
index 818af76..7516d1b 100644
--- a/src/public/types.cc
+++ b/src/public/types.cc
@@ -167,7 +167,7 @@ std::size_t bytes_per_pixel(const Format &value) {
       return 1;
     case Format::YUYV:
       return 2;
-    case Format::RGB888:
+    case Format::BGR888:
       return 3;
     default:
       LOG(FATAL) << "Unknown format";
diff --git a/tools/dataset/dataset.cc b/tools/dataset/dataset.cc
index ef82e14..5a98f68 100644
--- a/tools/dataset/dataset.cc
+++ b/tools/dataset/dataset.cc
@@ -64,16 +64,36 @@ void Dataset::SaveStreamData(
     std::stringstream ss;
     ss << writer->outdir << OS_SEP << std::dec
        << std::setw(IMAGE_FILENAME_WIDTH) << std::setfill('0') << seq << ".png";
-    cv::Mat img(
-        data.frame->height(), data.frame->width(), CV_8UC2, data.frame->data());
-    cv::cvtColor(img, img, cv::COLOR_YUV2BGR_YUY2);
-    cv::imwrite(ss.str(), img);
+    if (data.frame->format() == Format::GREY) {
+      cv::Mat img(
+          data.frame->height(), data.frame->width(), CV_8UC1,
+          data.frame->data());
+      cv::imwrite(ss.str(), img);
+    } else if (data.frame->format() == Format::YUYV) {
+      cv::Mat img(
+          data.frame->height(), data.frame->width(), CV_8UC2,
+          data.frame->data());
+      cv::cvtColor(img, img, cv::COLOR_YUV2BGR_YUY2);
+      cv::imwrite(ss.str(), img);
+    } else if (data.frame->format() == Format::BGR888) {
+      cv::Mat img(
+          data.frame->height(), data.frame->width(), CV_8UC3,
+          data.frame->data());
+      cv::cvtColor(img, img, CV_BGRA2RGBA);
+      cv::imwrite(ss.str(), img);
+    } else {
+      cv::Mat img(
+          data.frame->height(), data.frame->width(), CV_8UC1,
+          data.frame->data());
+      cv::imwrite(ss.str(), img);
+    }
   }
   ++stream_counts_[stream];
 }
 
 void Dataset::SaveMotionData(const device::MotionData &data) {
   auto &&writer = GetMotionWriter();
+  // auto seq = data.imu->serial_number;
   auto seq = motion_count_;
   if (data.imu->flag == 1 || data.imu->flag == 2) {
     writer->ofs << seq << ", " << data.imu->timestamp << ", "
@@ -83,6 +103,13 @@ void Dataset::SaveMotionData(const device::MotionData &data) {
                 << data.imu->temperature << std::endl;
     ++motion_count_;
   }
+  /*
+  if(motion_count_ != seq) {
+    LOG(INFO) << "motion_count_ != seq !" << " motion_count_: " << motion_count_
+  << " seq: " << seq;
+    motion_count_ = seq;
+  }
+  */
 }
 
 Dataset::writer_t Dataset::GetStreamWriter(const Stream &stream) {
diff --git a/tools/dataset/record.cc b/tools/dataset/record.cc
index 5ecdc14..96307aa 100644
--- a/tools/dataset/record.cc
+++ b/tools/dataset/record.cc
@@ -31,6 +31,8 @@ int main(int argc, char *argv[]) {
   auto &&device = device::select();
   if (!device)
     return 1;
+  device->SetStreamRequest(
+      Resolution::RES_1280x400, Format::BGR888, FrameRate::RATE_30_FPS);
   /*
   {  // auto-exposure
     device->SetOptionValue(Option::EXPOSURE_MODE, 0);
@@ -79,16 +81,40 @@ int main(int argc, char *argv[]) {
 
     auto &&left_frame = left_datas.back().frame;
     auto &&right_frame = right_datas.back().frame;
-    cv::Mat left_img(
-        left_frame->height(), left_frame->width(), CV_8UC2, left_frame->data());
-    cv::Mat right_img(
-        right_frame->height(), right_frame->width(), CV_8UC2,
-        right_frame->data());
 
     cv::Mat img;
-    cv::cvtColor(left_img, left_img, cv::COLOR_YUV2BGR_YUY2);
-    cv::cvtColor(right_img, right_img, cv::COLOR_YUV2BGR_YUY2);
-    cv::hconcat(left_img, right_img, img);
+
+    if (left_frame->format() == Format::GREY) {
+      cv::Mat left_img(
+          left_frame->height(), left_frame->width(), CV_8UC1,
+          left_frame->data());
+      cv::Mat right_img(
+          right_frame->height(), right_frame->width(), CV_8UC1,
+          right_frame->data());
+      cv::hconcat(left_img, right_img, img);
+    } else if (left_frame->format() == Format::YUYV) {
+      cv::Mat left_img(
+          left_frame->height(), left_frame->width(), CV_8UC2,
+          left_frame->data());
+      cv::Mat right_img(
+          right_frame->height(), right_frame->width(), CV_8UC2,
+          right_frame->data());
+      cv::cvtColor(left_img, left_img, cv::COLOR_YUV2BGR_YUY2);
+      cv::cvtColor(right_img, right_img, cv::COLOR_YUV2BGR_YUY2);
+      cv::hconcat(left_img, right_img, img);
+    } else if (left_frame->format() == Format::BGR888) {
+      cv::Mat left_img(
+          left_frame->height(), left_frame->width(), CV_8UC3,
+          left_frame->data());
+      cv::cvtColor(left_img, left_img, CV_BGRA2RGBA);
+      cv::Mat right_img(
+          right_frame->height(), right_frame->width(), CV_8UC3,
+          right_frame->data());
+      cv::cvtColor(right_img, right_img, CV_BGRA2RGBA);
+      cv::hconcat(left_img, right_img, img);
+    } else {
+      return -1;
+    }
     cv::imshow("frame", img);
 
     {  // save
diff --git a/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc b/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
index 054e484..866d057 100644
--- a/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
+++ b/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
@@ -532,6 +532,8 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
     }
 
     api_ = API::Create(device);
+    api_->SetStreamRequest(
+        Resolution::RES_1280x400, Format::BGR888, FrameRate::RATE_20_FPS);
   }
 
   sensor_msgs::CameraInfoPtr getCameraInfo(const Stream &stream) {